Rabies concern with my own pet

I was playing with my dog earlier and I threw his toy but he jumped and caught it with his tooth right where my knee was. He broke the skin and it’s tiny, the size of a pen point maybe. I cleaned it and put stuff on it. I am up to date on tetanus. What are the odds my inside dog has rabies? He’s acting completely fine. He’s inside rather than to go out and hangout in our fenced in backyard a couple hours. He’s had rabies vaccines but probably at least 4 years ago now, due to his extreme anxiety at the vet. It’s nearly impossible. This fear in me has opened my eyes to get him sedated and just go get another. We have never seen any wild animals where I live, especially that are more prone to rabies. Literally ever. I’m just psyching myself out.